#define FLDIR1 15
#define FLDIR2 14
#define FLPWM 13
#define FRDIR1 25
#define FRDIR2 23
#define FRPWM 8

#define LSENSOR3 39
#define LSENSOR2 37
#define LSENSOR1 35
#define CSENSOR  33
#define RSENSOR1 31
#define RSENSOR2 29
#define RSENSOR3 27

#define KP 11.8
#define KI 0
#define KD 23.6

#define WEIGHT1 1
#define WEIGHT2 3
#define WEIGHT3 6
#define WEIGHT4 10

#define ERROR_DISTRIBUTION 'P' // 'L' : For Linear 'P':For Parabolic 'W':Weighted
#define dt_PID 'Y' 	//if 'y' integrals and derivative contains time terms.





